This repo provides you with a setup for developing with ROS2 in Docker. It contains the F1Tenth simulator and a basic structure for developing your own nodes.
- Overleaf. [Done]
- Overleaf. [TODO]
- Automatic Emergency Brake (AEB) with Time to collision (TTC). [TODO]
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C++
- create Safety node with name safety_node1 [Done]
- copy skeleton file safety_node.cpp [Done]
- subscribe to LaserScan [TODO]
- compute TTC [TODO]
- utilize odom
- send stopping signal with AckermannDriveStamped message [TODO]
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Python
- create Safety node with name safety_node2 [Done]
- copy skeleton file safety_node.py [Done]
- subscribe to LaserScan [TODO]
- compute TTC [TODO]
- utilize odom
- send stopping signal with AckermannDriveStamped message [TODO]
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-
1.1:
- a [TODO]
- b [TODO]
- c [TODO]
- d [TODO]
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1.2:
- a [TODO]
- b [TODO]
- c [TODO]
- d [TODO]
- e [TODO]
- f [TODO]
- g [TODO]
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2.1:
- a [TODO]
- b [TODO]
- c [TODO]
- d [TODO]
- e [TODO]
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2.2:
- a [TODO]
- b [TODO]
- c [TODO]
This workspace contains two different ways to run the simulator and develop with Docker:
docker-composecomparably plain solution, graphical tools use a browser based VNC client to display windowsdevcontainersworks with VSCode and JetBrains IDEs, launches the docker container and runs the IDE in the container, uses the native window system
The workspace uses the following directory structure:
.
├── docker-compose.yml -> file used by docker-compose
├── Dockerfile -> general Docker image description
├── get_env.sh -> script to print the environment (nice to have for JB IDEs & CMake)
├── maps -> mounted to /arc2025/maps/ in container
├── README.md
└── src -> mounted to /arc2025/ws/src/your_code/ in container
In addition, there are two hidden (at least on *nix systems) directories.
The .cache directory contains a build cache to improve build times.
The .devcontainer directory contains configuration files for devcontainers.
Please note that all Docker-based approaches use Dockerfile.
Changes to any of the approaches in this file, will also be present in other environments.
Due to limited accessibility to MS Windows machines at the workgroup, we cannot guarantee compatibility with MS Windows.
If you have persistent problems with MS Windows, consider using a Virtual Machine with the Manual Installation instruction from Lab 1.
If possible for you, we recommend to use devcontainers with either VSCode or a JetBrains IDE.
VSCode is a free source code editor by Microsoft.
Students (and employees) of TU Wien can apply for academic licenses for JetBrains' all products pack, which includes CLion and PyCharm, which are full-fledged IDEs for C++ and Python respectively.
Alternatively, you can use docker-compose, which is just the bare system, without a source code editor or an IDE.
Dependencies: (also refer to (https://docs.docker.com/engine/install )
dockerdocker-compose
To set up the system, first clone the repository.
git clone ssh://git@gitlab.tuwien.ac.at:822/cyber-physical-systems/lehre-public/arc2025/lecture-ws.gitFirst, build the Docker image and pull all required images.
Execute this command in the lecture-ws directory.
If you prefer X-Forwarding over using VNC in the browser, add the option -f docker-compose-x11-fwd.yml after compose in the following two commands.
You might need to additionally execute the steps in X-Forwarding.
docker compose buildTo start the environment, run the following command in the same directory.
docker compose upThis will start two containers, one for the display server and one that contains the simulator.
You can access the simulation container with (in another terminal):
docker exec -it lecture-ws-sim-1 /bin/bashExecute the above command every time you need a new terminal session.
To see the graphical environment open http://localhost:8000/vnc.html and click on Connect.
Alternatively you can use the docker-compose file docker-compose-x11-fwd.yml (instead of docker-compose.yml) that uses direct X11-forwarding to the host machine.
Dependencies: (also refer to (https://docs.docker.com/engine/install )
docker- VSCode
- Remote Development Extension in VS Code
To set up the system, first clone the repository.
git clone ssh://git@gitlab.tuwien.ac.at:822/cyber-physical-systems/lehre-public/arc2025/lecture-ws.gitNavigate to the .devcontainer/devcontainer.json (.devcontainer/.devcontainer-windows/devcontainer.json in MS Windows) file.
Then use View>Command Palette... for the command Dev containers: (Re-)build and Reopen in Container.
This will initialize and start the devcontainer in VSCode.
After VSCode is finished with loading and set up, open a terminal in VSCode. From now on, we will use the shell in this terminal to execute the commands.
Dependencies: (also refer to (https://docs.docker.com/engine/install )
docker- JetBrains IDE of your choice (EAP versions recommended!)
Navigate to the .devcontainer/devcontainer.json (.devcontainer/.devcontainer-windows/devcontainer.json in MS Windows) file.
Click on the devcontainer icon (3D-ish cube) in the Gutter (next to the line numbers) and select Create Dev Container and Mount Sources.
After building has completed, the tool window will show a selection of IDE backends.
Pick the one corresponding to the IDE you intend to use and press Continue.
This will start a new instance of the IDE with a connection to the devcontainer.
JetBrains IDEs do not support the use of --net=host for docker.
It is therefore necessary to disable this but also to open up your X Server.
Run this to disable authorization on your X-Server
xhost +CAUTION: This allows any and all hosts from anywhere to use your X-Server (graphical interface) to display windows on your PC! UNDER NO CIRCUMSTANCES do this on an untrusted network!
In the lower left if the JetBrains IDE window, click on the Terminal symbol to open the terminal tool window. From now on, we will use these to execute commands.
Before you can run the simulator you need to build the workspace to make all packages in it available to you.
Make sure you run this in /arc2025/ws/.
source /opt/ros/jazzy/setup.bash
colcon buildThe first command sets up the ROS2 environment in your current session and makes everything from the global workspace available.
The second command invokes the build tool used in ROS2 called colcon to build all packages.
After the build is finished you can run the simulator:
source install/setup.bash
ros2 launch f1tenth_gym_ros gym_bridge_launch.pyThe first command sets up the workspace located at /arc2025/ws/ and makes all packages (initially only the simulator) in that workspace available to you.
The second command uses the ROS2 launch system to start the simulator and all dependencies.
This will output a lot of warning messages during the startup of the simulator:
[rviz2-1] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.14/src/buffer_core.cpp
You can ignore these messages.
After the messages have stopped flooding your terminal session, you should see the car in a visualization window (rviz2) and the lidar sensor visualized as colorful points along the wall.
To move the car, you can use the package teleop_twist_keyboard that is already installed in the container.
Run the following commands in a new(!) terminal session to start the keyboard control.
source install/setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboardYou can now (very crudely) control your car with your keyboard.
A tmuxinator file is implemented for easy starting of all notes, without having a launch file (separate node start). First link the tmuxinator yaml file to the config folder. Afterwards start everything with tmuxinator name.
ln -s /arc2025/ws/src/your_code/tmux/safety_node1.yaml ~/.config/tmuxinator/safety_node1.yaml
tmuxinator safety_node1Enable Tmux Mouse support with this command
echo 'set -g mouse on' >> ~/.tmux.conf